The micro_ros_agent does not relay topic messages

galactic micro-ROS Agent の Docker コマンド、teleop_twist_keyboard、micro_ros_subscriber_twist.ino と micro_ros_publisher.ino の例を使って、両方の順序シナリオを再現してください。まず、MCU プログラムをパブリッシュの前に起動した場合と後に起動した場合の agent の動作とログを比較します。完了条件は、文書化された両方のシナリオで期待されるメッセージが確実に配信されること、または期待される制限事項が明確に文書化されていることです。

Describe the bug

Hi, I tried this example micro-ros_subscriber_twist using UDP on STM32F407 (Ethernet), but the micro_ros_agent only relays the message to MCU if

[Normal]
Step 1: Start the agent
Step 2: Start the program on MCU
Step 3: Publish the twist message (keep publishing)

Twist messages received.

If I exchange step 2 with step 3, I cannot receive the message on MCU:

[BUG]
Step 1: Start the agent
Step 2: Publish the twist message (keep publishing)
Step 3: Start the program on MCU

No Twist messages.

I'm wondering is this an expected behavior or a BUG?

Besides, the micro-ros_publisher.ino example cannot receive the int32 message under both scenarios.

To Reproduce

Scenario 1 (BUG):

$ Step 1: Start the agent
$ docker run -it -p 9999:9999/udp --privileged microros/micro-ros-agent:galactic udp4 -p 9999 -v 6

$ Step 2: Publish the twist message
$ docker container -it sleepy_rubin /bin/bash
$ # Inside the container
$ ros2 run teleop_twist_keyboard teleop_twist_keyboard 

$ Step 3: Start the program on MCU
$ micro_ros_sub twist

# No twist message on MCU

Scenario 1 (Normal):

$ Step 1: Start the agent
$ docker run -it -p 9999:9999/udp --privileged microros/micro-ros-agent:galactic udp4 -p 9999 -v 6

$ Step 2: Start the program on MCU
$ micro_ros_sub twist

$ Step 3: Publish the twist message
$ docker container -it sleepy_rubin /bin/bash
$ # Inside the container
$ ros2 run teleop_twist_keyboard teleop_twist_keyboard 

# Normal twist message on MCU